version: 66.10
glider: 157
mission: 6
dive: 15
start: 10 26 112 6 8 14
data:
$ID,157
$MISSION,6
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,40
$D_BOOST,30
$T_BOOST,3
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52741
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1464122.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,148
$PITCH_MAX,3937
$C_PITCH,2512
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,37
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3775
$ROLL_DEG,35
$C_ROLL_DIVE,1865
$C_ROLL_CLIMB,1865
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.531336
$PRESSURE_SLOPE,0.0001140972
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042748204
$SEABIRD_T_H,0.00061971153
$SEABIRD_T_I,2.2227921e-05
$SEABIRD_T_J,2.2882891e-06
$SEABIRD_C_G,-10.177173
$SEABIRD_C_H,1.1523328
$SEABIRD_C_I,-0.0019126741
$SEABIRD_C_J,0.00023621984
$GPS1,261012,055925,4743.368,-12223.584,8,1.8,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.0
$GPS2,261012,060715,4743.333,-12223.619,9,3.0,28,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,-0.124
$KALMAN_X,-1817.2,49.7,-131.4,3337.4,-15.5
$KALMAN_Y,-562.5,585.7,211.9,-1387.2,-21.2
$MHEAD_RNG_PITCHd_Wd,213.6,1880,-17.8,-8.000
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-97.8,0.0,0.0,0,70,0.00,0.00,-50.22,0.000,6,0.000,0.000,115,1871,1830,0,0,0,0,0,0,28.83,28.83,26.33
$GC,74,-0.52,-97.8,2.9,-6.2,7,91,8.90,2.60,0.00,0.000,4,0.260,0.040,2349,625,1833,0,0,1,0,0,0,25.74,25.98,28.83
$GC,342,-0.52,-97.8,42.5,-11.9,54,351,0.00,2.65,0.00,0.000,6,0.000,0.044,2338,1868,1833,0,0,0,0,0,0,28.83,26.18,28.83
$GC,489,-0.52,-97.8,59.6,-10.7,79,496,0.00,2.58,0.00,0.000,4,0.000,0.044,2340,625,1833,0,0,1,0,0,0,28.83,26.23,28.83
$GC,708,-0.52,-97.8,86.9,-12.0,117,715,0.00,2.58,0.00,0.000,6,0.000,0.046,2329,1868,1833,0,0,1,0,0,0,28.83,26.32,28.83
$GC,856,-0.52,-97.8,104.3,-12.0,142,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1867,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1011,-0.52,-97.8,121.5,-10.7,167,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1866,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1155,-0.52,-97.8,137.8,-10.7,192,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1866,1833,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1201,begin apogee
$GC,1209,-0.14,0.0,143.8,-13.1,199,1306,0.45,0.00,87.62,0.793,6,0.172,0.000,2467,1867,1430,0,0,0,0,1,0,26.29,28.83,24.48
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1311,0.52,97.8,148.7,0.0,214,1411,0.65,0.00,90.55,0.565,6,0.121,0.000,2679,1867,1022,0,0,0,0,0,0,25.12,28.83,24.49
$GC,1552,0.52,97.8,125.3,11.2,253,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1867,1020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1695,0.52,97.8,107.3,11.6,278,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1867,1019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,0.52,97.8,91.1,11.3,303,1848,0.00,2.62,0.00,0.000,4,0.000,0.050,2692,627,1019,0,0,1,0,0,0,28.83,26.02,28.83
$GC,1858,0.52,97.8,89.3,10.8,305,1865,0.00,2.60,0.00,0.000,6,0.000,0.043,2692,1876,1019,0,0,1,0,0,0,28.83,26.05,28.83
$GC,2002,0.52,97.8,72.5,11.0,330,2010,0.00,2.67,0.00,0.000,4,0.000,0.051,2703,628,1018,0,0,1,0,0,0,28.83,26.13,28.83
$GC,2029,0.52,97.8,69.5,11.0,334,2038,0.00,2.65,0.00,0.000,6,0.000,0.044,2703,1863,1018,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2180,0.52,97.8,51.5,13.0,359,2186,0.00,2.62,0.00,0.000,4,0.000,0.050,2714,632,1018,0,0,1,0,0,0,28.83,26.20,28.83
$GC,2208,0.52,97.8,47.5,13.2,363,2215,0.15,2.60,0.00,0.000,6,0.170,0.044,2674,1872,1018,0,0,1,0,0,0,26.10,26.23,28.83
$GC,2357,0.52,97.8,31.7,10.2,388,2366,0.00,1.60,0.00,0.000,4,0.000,0.050,2674,3111,1018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2404,0.52,97.8,26.6,10.5,395,2412,0.00,1.62,0.00,0.000,6,0.000,0.039,2680,1859,1017,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2484,0.52,97.8,18.9,9.7,408,2492,0.00,2.58,0.00,0.000,4,0.000,0.052,2692,642,1017,0,0,1,0,0,0,28.83,26.29,28.83
$GC,2509,0.52,97.8,16.9,8.2,411,2518,0.00,2.60,0.00,0.000,6,0.000,0.044,2692,1871,1017,0,0,1,0,0,0,28.83,26.32,28.83
$GC,2589,0.52,97.8,8.7,10.2,424,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1871,1017,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2648,end climb,SURFACE_DEPTH_REACHED
$STATE,2648,begin surface coast
$FINISH,0.2,1.010957
$STATE,2689,end surface coast,CONTROL_FINISHED_OK
$STATE,2689,begin surface
$SM_CCo,2709,67.95,0.062,0,0,491,230.09
$SM_GC,1.21,6.57,0.00,67.95,0.044,0.000,0.062,118,1872,491,-7.38,0.20,230.09,0,0,0,0,0,0,26.41,28.83,26.27
$IRIDIUM_FIX,4726.11,-12220.67,261012,050516
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.15
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.6,18.2
$24V_AH,24.5,0.983
$10V_AH,10.5,0.998
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.725,34.575,178.175,67.950,0.000,23.922,30.987,254.773,2.750,0.000,32.363,996.200,252.924,303.016,1498.957,207.635,33.216,745.704,0.000,1175.587,0.000,21.839,0.000
$DEVICE_MAMPS,260.100,52.020,793.305,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.786,212.356,868.777,164.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,27034,441
$CAP_FILE_SIZE,52556,0
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0,0
$GPS,261012,065525,4742.979,-12223.935,8,1.9,8,18.2